Select time: t = 0.00t = 0.10t = 0.20t = 0.30t = 0.40t = 0.50t = 0.60t = 0.70t = 0.80t = 0.90t = 1.00t = 1.10t = 1.20t = 1.30t = 1.40t = 1.50t = 1.60t = 1.70t = 1.80t = 1.90t = 2.00t = 2.10t = 2.20t = 2.30t = 2.40t = 2.50t = 2.60t = 2.70t = 2.80t = 2.90t = 3.00t = 3.10t = 3.20t = 3.30t = 3.40t = 3.50t = 3.60t = 3.70t = 3.80t = 3.90t = 4.00t = 4.10t = 4.20t = 4.30t = 4.40t = 4.50t = 4.60t = 4.70t = 4.80t = 4.90t = 5.00t = 5.10t = 5.20t = 5.30t = 5.40t = 5.50t = 5.60t = 5.70t = 5.80t = 5.90t = 6.00t = 6.10t = 6.20t = 6.30t = 6.40t = 6.50t = 6.60t = 6.70t = 6.80t = 6.90t = 7.00t = 7.10t = 7.20t = 7.30t = 7.40t = 7.50t = 7.60t = 7.70t = 7.80t = 7.90t = 8.00t = 8.10t = 8.20t = 8.30t = 8.40t = 8.50t = 8.60t = 8.70t = 8.80t = 8.90t = 9.00t = 9.10t = 9.20t = 9.30t = 9.40t = 9.50t = 9.60t = 9.70t = 9.80t = 9.90t = 10.00t = 10.10t = 10.20t = 10.30t = 10.40t = 10.50t = 10.60t = 10.70t = 10.80t = 10.90t = 11.00t = 11.10t = 11.20t = 11.30t = 11.40t = 11.50t = 11.60t = 11.70t = 11.80t = 11.90t = 12.00t = 12.10t = 12.20t = 12.30t = 12.40t = 12.50t = 12.60t = 12.70t = 12.80t = 12.90t = 13.00t = 13.10t = 13.20t = 13.30t = 13.40t = 13.50t = 13.60t = 13.70t = 13.80t = 13.90t = 14.00t = 14.10t = 14.20t = 14.30t = 14.40t = 14.50t = 14.65

static data textures axes
map lane segments (control points)

vehicles duckies signs signs textures decorations

current lane anchor point

main
rules

The PWM commands sent to the wheels

Velocities in body frame. Given in m/s and deg/s.

This metric describes the amount of deviation from the relative heading.

This metric computes whether the robot was in a drivable area.

Note that we check that the robot is in the lane in a correct heading (up to 90deg deviation from the lane direction).

This metric describes the amount of deviation from the center line.

This metric computes how far the robot drove.

This metric computes how far the robot drove in the direction of the lane.

This metric computes how far the robot drove in the direction of the correct lane, discounting whenever it was driven in the wrong direction with respect to the start.

Length of the episode.

Distance from the starting point.